Tremor, characterized by involuntary and rhythmical movements, is the most common movement disorder. Tremor can have peripheral and central oscillatory components which properly assessed may improve diagnostics. A magnetic resonance (MR)-safe haptic wrist manipulator enables simultaneous measurement of proprioceptive reflexes (peripheral components) and brain activations (central components) through functional magnetic resonance imaging (fMRI). The presented design for an MR-safe haptic wrist manipulator has electrohydraulic closed-circuit actuation, optical position and force sensing, and consists of exclusively nonconductive and magnetically compatible materials inside the MR-environment (Zone IV). The MR-safe hydraulic actuator, a custom-made plastic vane motor, is connected to the magnetic parts and electronics located in the shielded control room (Zone III) via hydraulic hoses and optical fibers. Deliberate internal leakage provides backdriveability, damping, and circumvents friction. The manipulator is completely MR-safe and therefore operates safely in any MR-environment while ensuring fMRI imaging quality. Undesired external leakage in the actuator prevented the use of prepressure, limiting the control bandwidth. The compact end effector design fits in the MR-scanner, is easily setup, and can be clamped to the MR-scanner bed. This enables use of the manipulator with the subject at the optimal fMRI location and allows it to be setup quickly, saving costly MR-scanner time. The actuation and sensor solutions performed well inside the MR-environment and did not deteriorate image quality, which allows for various motor control experiments. Enabling prepressure by carrying out the recommendations on fabrication and sealing should improve the bandwidth and fulfill the requirements for proprioceptive reflex identification.
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December 2017
Design Innovation Paper
Design of a Magnetic Resonance-Safe Haptic Wrist Manipulator for Movement Disorder Diagnostics
Winfred Mugge,
Winfred Mugge
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: w.mugge@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: w.mugge@tudelft.nl
Search for other works by this author on:
Alfred C. Schouten,
Alfred C. Schouten
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Department of Biomechanical Engineering,
MIRA,
University of Twente,
Drienerlolaan 5,
Enschede 7522 NB, The Netherlands
e-mail: a.c.schouten@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Department of Biomechanical Engineering,
MIRA,
University of Twente,
Drienerlolaan 5,
Enschede 7522 NB, The Netherlands
e-mail: a.c.schouten@tudelft.nl
Search for other works by this author on:
Anne-Fleur van Rootselaar,
Anne-Fleur van Rootselaar
Department of Neurology and Clinical Neurophysiology,
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: a.f.vanrootselaar@amc.uva.nl
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: a.f.vanrootselaar@amc.uva.nl
Search for other works by this author on:
Lo J. Bour,
Lo J. Bour
Department of Neurology and Clinical Neurophysiology,
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: bour@amc.uva.nl
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: bour@amc.uva.nl
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Frans C. T. van der Helm,
Frans C. T. van der Helm
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: f.c.t.vanderhelm@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: f.c.t.vanderhelm@tudelft.nl
Search for other works by this author on:
Piet Lammertse
Piet Lammertse
Moog B.V.,
Pesetaweg 53,
Nieuw-Vennep 2153 PJ, The Netherlands
e-mail: piet.lammertse@motekforcelink.com
Pesetaweg 53,
Nieuw-Vennep 2153 PJ, The Netherlands
e-mail: piet.lammertse@motekforcelink.com
Search for other works by this author on:
Dyon Bode
Winfred Mugge
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: w.mugge@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: w.mugge@tudelft.nl
Alfred C. Schouten
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Department of Biomechanical Engineering,
MIRA,
University of Twente,
Drienerlolaan 5,
Enschede 7522 NB, The Netherlands
e-mail: a.c.schouten@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands;
Department of Biomechanical Engineering,
MIRA,
University of Twente,
Drienerlolaan 5,
Enschede 7522 NB, The Netherlands
e-mail: a.c.schouten@tudelft.nl
Anne-Fleur van Rootselaar
Department of Neurology and Clinical Neurophysiology,
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: a.f.vanrootselaar@amc.uva.nl
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands;
Brain Imaging Center,
Academic Medical Center,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: a.f.vanrootselaar@amc.uva.nl
Lo J. Bour
Department of Neurology and Clinical Neurophysiology,
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: bour@amc.uva.nl
Academic Medical Center,
University of Amsterdam,
Meibergdreef 9,
Amsterdam-Zuidoost 1105 AZ, The Netherlands
e-mail: bour@amc.uva.nl
Frans C. T. van der Helm
Department of Biomechanical Engineering,
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: f.c.t.vanderhelm@tudelft.nl
Faculty of Mechanical,
Maritime and Materials Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: f.c.t.vanderhelm@tudelft.nl
Piet Lammertse
Moog B.V.,
Pesetaweg 53,
Nieuw-Vennep 2153 PJ, The Netherlands
e-mail: piet.lammertse@motekforcelink.com
Pesetaweg 53,
Nieuw-Vennep 2153 PJ, The Netherlands
e-mail: piet.lammertse@motekforcelink.com
1Corresponding author.
2D. Bode and W. Mugge contributed equally to this work.
Manuscript received November 7, 2016; final manuscript received August 7, 2017; published online October 4, 2017. Assoc. Editor: Michael Eggen.
J. Med. Devices. Dec 2017, 11(4): 045002 (7 pages)
Published Online: October 4, 2017
Article history
Received:
November 7, 2016
Revised:
August 7, 2017
Citation
Bode, D., Mugge, W., Schouten, A. C., van Rootselaar, A., Bour, L. J., van der Helm, F. C. T., and Lammertse, P. (October 4, 2017). "Design of a Magnetic Resonance-Safe Haptic Wrist Manipulator for Movement Disorder Diagnostics." ASME. J. Med. Devices. December 2017; 11(4): 045002. https://doi.org/10.1115/1.4037674
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